Diff: main.cpp

Revision:

3:6d469c371f49

Parent:

2:ab055f0284fc

--- a/main.cpp	Sun Feb 24 09:45:32 2019 +0000
+++ b/main.cpp	Sun May 19 15:59:31 2019 +0000
@@ -5,9 +5,8 @@
 joysticknucleo joystick(PA_0,PA_1);
 Serial pc(USBTX,USBRX);
 /* Deklarasi Motor Base */
-Motor motorDepan(PB_7, PC_3, PC_0); //(PB_9, PA_12, PC_5); 
-Motor motorKanan(PB_3, PA_10, PC_4);
-Motor motorKiri  (PB_9, PA_6, PA_12);
+Motor motorKanan(PA_15, PB_0, PA_4);
+Motor motorKiri  (PB_7, PC_2, PC_3);
 int case_joy;
 /****************************************************/
 /*         Deklarasi Fungsi dan Procedure           */
@@ -34,7 +33,7 @@
         caseJoystick = 2;
     }
     else if ((!joystick.R1)&&(!joystick.L1)&&(joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(!joystick.kiri))  {  
-        // Pivot Kiri
+        // Maju
         caseJoystick = 3;
     }
     else if ((!joystick.R1)&&(!joystick.L1)&&(!joystick.atas)&&(!joystick.bawah)&&(!joystick.kanan)&&(joystick.kiri))  {  
@@ -59,54 +58,47 @@
         case (1): 
         {       
             // Pivot Kanan
-            motorDepan.speed(0.23);
-            motorKanan.speed(0.17);
-            motorKiri.speed(0.23);
+            motorKanan.speed(0.3);
+            motorKiri.speed(0.4);
             break;
         }
         case (2): 
         {
             // Pivot Kiri
-            motorDepan.speed(-0.23);
-            motorKanan.speed(-0.17);
-            motorKiri.speed(-0.23);
+            motorKanan.speed(-0.3);
+            motorKiri.speed(-0.4);
             break;
         }
         case (3): 
         {
             // Maju
-            motorDepan.speed(0);
-            motorKanan.speed(-0.17);
-            motorKiri.speed(0.3);
+            motorKanan.speed(-0.5);
+            motorKiri.speed(0.5);
             break;
         }
         case (4): 
         {
             // Kiri
-            motorDepan.speed(-0.23);
-            motorKanan.speed(0.17);
-            motorKiri.speed(0.3);
+            motorKanan.speed(0.5);
+            motorKiri.speed(0.6);
             break;
         }
         case (5): 
         {
             //Belakang
-            motorDepan.speed(0);
-            motorKanan.speed(0.17);
-            motorKiri.speed(-0.3);
+            motorKanan.speed(0.3);
+            motorKiri.speed(-0.4);
             break;
         }
         case (6): 
         {
             // Kanan
-            motorDepan.speed(0.23);
-            motorKanan.speed(-0.17);
-            motorKiri.speed(-0.3);
+            motorKanan.speed(-0.3);
+            motorKiri.speed(-0.4);
             break;
         }
         default : 
         {
-            motorDepan.brake(1);
             motorKanan.brake(1);
             motorKiri.brake(1);
         }
@@ -154,4 +146,5 @@
 //            previousMillis5 = millis();
 //        }
         
-    }
\ No newline at end of file
+    }
+}
\ No newline at end of file